JPH06198443A - Impeller automatic robot welding equipment for rotry machine - Google Patents

Abstract

PURPOSE:To automatically weld the whole impeller by a teaching program and to increase efficiency by rotating the impeller by a turning roll device, welding the impeller and rotating this in order up to the next welding position to perform welding. CONSTITUTION:When robot welding of a blade of the specified position of the impeller is completed, the turning roll device 3 rotates the impeller up to the position of the next blade and next welding is performed. When welding of the specified impeller is completed, the robot welding equipment 5 is moved up to the turning roll device 3 where the preengaged next impeller is fitted and automatic robot welding of the impeller is performed continuously. Further, the robot welding equipment 5 is provided with a sensing function and even if there is an error on the welding position of the impeller, welding can be performed while correcting the position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an impeller automatic robot welding apparatus for a rotary machine, for example, a rotary machine for welding an impeller of a blower.

[0002]

2. Description of the Related Art Conventionally, in order to weld an impeller of a rotary machine such as a blower or a pump, the impeller is supported by a rotary core and rotated, and the impeller is uniformly positioned by an index method. There was a way to weld. On the other hand, there is a method in which the outer periphery of the impeller is supported on a rotating roll by a turning roll and rotationally driven to position the welding position and perform welding. In contrast to the former, the latter has a simple structure, and the impeller can be easily attached and detached.

[0003]

By the way, such a turning roll device has been manually operated. Therefore, it has been a very important task to simplify rotation positioning in combination with a robot welding device, automate the welding of all impellers according to a predetermined teaching program, save labor, and improve efficiency.

In order to solve the above problems, an object of the present invention is that the impeller can be easily attached / detached, the workable range is wide, the surface-complicated portion can be welded, the size is reduced, and the installation space is reduced. Moreover, it is an object of the present invention to provide an impeller automatic robot welding device for a rotating machine, in which the impeller is automatically welded, unmanned, and capable of efficiency.

[0005]

In order to achieve the above object, the present invention is an automatic robot welding apparatus for automatically welding an impeller for a rotary machine, wherein the outer periphery of the impeller is moved in the front, rear, left, right, up and down directions. A turning roll device comprising a drive roll unit and a driven roll unit that supports the impeller so that the impeller can rotate forward and backward; a multi-axis welding robot that allows the impeller to be freely welded; and a proximity to the turning roll device. A robot moving device that is provided with the multi-axis welding robot and is movable in the front-rear, left-right, and up-down directions, and the rotating roll device is used to rotate the impeller. This is an impeller automatic robot welding device for a rotating machine, which welds an impeller and sequentially rotates and welds to the next welding position.

Further, according to one aspect of the present invention, the turning roll device is provided with two detection sensors provided in the forward and reverse rotation directions to detect the welding position of the impeller, and provided between the detection sensors. An angle indexing unit including one other detection sensor for stopping the impeller is provided.

According to another aspect of the present invention, a plurality of turning roll devices are arranged side by side, and when a predetermined impeller is finished, the robot moving device is moved to the next reserved impeller.

Further, according to another aspect of the present invention, the robot welding devices are provided so as to face each other with the turning roll device interposed therebetween.

[0009]

By employing the impeller automatic robot welding device for a rotary machine of the present invention, a drive roll unit for supporting the outer periphery of the impeller so as to be adjustable in the front-rear, left-right and up-down directions, and enabling the impeller to rotate forward and backward, and A turning roll device including a driven roll unit is provided, and a multi-axis welding robot that welds the impeller and a multi-axis welding robot that is provided close to the turning roll device are mounted, and can be moved in the front-back, left-right, and up-down directions. A robot welding device including a robot moving device is provided, the impeller is rotated, the impeller is welded, sequentially rotated to the next welding position and welded, and an angle indexing means by a position sensor is provided. , A plurality of turning roll devices are installed side by side, and robot welding devices are provided opposite to each other with the turning roll device sandwiched between them, so that the impeller can be worn. Is simple, wide working range, allows welding surface complex points, is compact, the installation space is reduced, moreover impeller is automatic welding of, the unmanned, it is possible to streamline.

[0010]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a front view of an impeller automatic robot welding apparatus for rotary machines according to the present invention, and FIG. 2 is a plan view of FIG. In FIG. 1 and FIG. 2, the impeller automatic robot welding device 1 mainly faces a plurality of, in this embodiment, three turning roll devices 3 arranged in parallel, and the turning roll devices 3 face each other. It is composed of two robot welding devices 5.

As shown in FIGS. 3 and 4, the turning roll device 3 rotationally drives the impeller 11 supported by the drive roll unit 7 and the driven roll unit 9.
The position detection sensor device 15 detects the tips of the blades 13 that are temporarily attached to the impeller 11, that is, 12 blades in this embodiment, and the welding position of the impeller 11 is adjusted in accordance with the start and end of the welding program. The blades 13 that have been temporarily attached are sequentially welded to fixed positions.

There are many types of impellers 11, for example, there are a double suction type 11A as shown in FIG. 5 and a single suction type 11B as shown in FIG. 6, and it corresponds to the case where the outer dimensions A and B are different. In order to be able to
It is configured so that it can be adjusted left and right and up and down.

In order to move the driven roll unit 9 in the front-rear direction (front-rear direction XX in FIG. 3), the handle 1 is moved.
The thrust screw 19 is rotated by 7 to adjust the inter-center length of the driven roller 21. Similarly, the movement of the drive roll 20 in the front-rear direction XX is adjusted by rotating the handle 22 (FIG. 4).

In order to move the driven roll unit 9 in the vertical direction (vertical direction ZZ in FIG. 3), the handle jack 23 moves the screw jack 25 up and down to adjust the overall height of the driven roll unit 9. The height difference can be adjusted even when the outer diameters are different as in the single-suction type impeller 11B.

The left-right direction (left-right direction Y in FIG. 4)
For adjustment to -Y), the driven roll unit 9 is fixed to the fixed side and the drive roll unit 7 is moved, and the drive roll unit mount 27 is rotated by the handle 29 to rotate the thrust screw 31. Move left and right,
The drive roll unit 7 is adjusted in the left-right direction.

Further, the drive roll unit 7 rotates the impeller 11 by the torque of a drive motor (not shown) which transmits the drive roll 20 through the speed reducer 33.

When the rotation of the impeller 11 reaches a predetermined position,
In order to detect the position of the blade 13, an angle indexing unit which is a blade position detection sensor device 15 is provided in this embodiment. The detection sensor device 15 includes two detection sensors 35, 37 provided in the front-rear direction, and one detection sensor 39 provided in the middle of the detection sensors 35, 37 to stop the impeller 11. .

The detection sensors 35, 37 are the next blade 13
Is detected and the impeller 11 is stopped by the detection sensor 39. After this stop, the robot welding device 5 starts welding work. At this time, the welding ground 40 (FIG. 4) is brought into pressure contact with the surface carbon of the impeller 11 to slide it.

As shown in FIGS. 7 and 8, the robot welding device 5 comprises a welding robot main body 41 and a robot moving device 43 which makes the welding robot main body 41 movable.

The welding robot body 41 is composed of 6
Book shafts 11A, 13A, 15A, 17A, 19A, 2
It is a multi-axis welding machine composed of 1A, and the welding wire end P is movable. For example, in this embodiment, it is an automatic carbon dioxide gas welding machine.

Further, the welding robot main body 41 includes a carriage 45.
It is mounted on the top and is arranged in front of and behind the turning roll device 3, and simultaneously welds the respective welding parts such as the front and back of the blade 13 of the impeller 11.

A pack wire 47, a welding power source 49, a control device 51 and the like are mounted on the carriage 45. Further, this wiring is led out of the robot moving device 43 by a cable bear 53.

The welding robot moving device 43 is moved in the left-right direction (Y-Y direction in FIG. 8) by moving the wheels 5 of the carriage 45.
5 is driven by the drive motor 63 with a reduction gear on the track 57 via the rack 59 and the pinion 61, and the carriage 45 is moved.

As shown in FIG. 7, the welding robot main body 41 is moved in the front-rear direction XX when the welding robot main body 4 is moved.
Sliding shaft 65 having a surface parallel to the upper and lower surfaces to which 1 is attached
Is supported by rollers 69 provided at two locations on the upper side and two locations on the lower side of the sliding shaft support box 67, and the rack 71 and
It is driven by a drive motor (not shown) that drives a reduction gear 73 with a pinion that drives the rack 71.

Further, when the welding robot main body 41 is moved in the vertical direction Z--Z, the vertical motion holding rollers 75 provided on the sliding shaft support box 67 are provided on both left and right sides of the sliding shaft support box 67. In addition, it rolls on the parallel front and rear surfaces of the vertical movement support column 77. Therefore, the vertical motion holding roller 75
Is a chain driven by a vertical drive motor (not shown),
It is vertically driven by a sprocket (not shown) or the like.

Therefore, in the turning roll device 3, when the robot welding of the blade 13 at the predetermined position of the impeller 11 is completed, the impeller 11 is rotated to the position of the next blade 13 and the next welding is performed. When the welding of the predetermined impeller 11 is completed, the robot welding device 5 is moved to the turning roll device 3 equipped with the next reserved impeller 11, and automatic robot welding of the impeller 11 is continuously performed. . The robot welding device 5 is provided with a sensing function so that even if there is an error in the welding position of the impeller 11, welding can be performed while correcting the position.

As described above, the impeller automatic robot welding apparatus 1 of the present invention uses two robot welding devices 5 to weld the impeller 11 in order to weld the blades 13 of the impeller 11 which are temporarily fixed. In the present embodiment, while dividing into 12, the predetermined welding position, which is the welding start point taught in advance, is measured with the actual impeller 11 and is corrected, but the program of the model number is used despite having a complicated shape. The welding robot body 4 can be easily attached and detached because the welding is automatically performed by the
There is no obstacle in the arm 1 and it is possible to weld complicated welding points. Moreover, since the workable surface is 360 degrees, the reversing operation becomes unnecessary.

Further, as compared with the conventional rotating system of the shaft core of the impeller 11, the turning roll device 3 is downsized, the installation space is reduced, and many are installed in the limited installation space, so that the turning roll device 3 is unmanned for a long time. It enables driving,
In this embodiment, since three units (three stages) are used, it is possible to remove and install the impeller 11 in the turning roll device 5 in which welding is not performed even during operation, and welding of one impeller 11 is performed. When the above is finished, the welding of the next reserved impeller 11 can be started immediately.

Before the start of welding, the impeller 11 is rotated, the position detection sensor device 15 detects the blade 13, and the blade 13 is automatically set at the welding start position. Furthermore, it is possible to weld impellers of different types and other workpieces in an optimum posture.

The present invention is not limited to the above embodiment, but can be carried out in other modes by making appropriate design changes. For example, one turning roll device 3 can be used. And robot welding device 5-1
It goes without saying that it can also be used on a stand.

[0032]

As is apparent from the above description, the impeller automatic robot welding device for a rotary machine of the present invention supports the outer periphery of the impeller so as to be adjustable in the front-rear, left-right and up-down directions, and supports the impeller in a normal position. A turning roll device including a drive roll unit and a driven roll unit that can rotate in reverse is provided, and a multi-axis welding robot that welds the impeller and the multi-axis welding robot that is provided close to the turning roll device are mounted. A robot welding device including a robot moving device that is movable in the front-rear, left-right, and up-down directions is provided, and the impeller is rotated to weld the welding position of the impeller.
Welding by sequentially rotating to the next welding position, and providing an angle indexing means by a position sensor, and installing a plurality of turning roll devices side by side, robot welding devices are provided facing each other with the turning roll device interposed therebetween, The problems of the prior art are effectively solved by driving the turning roll device that uses the circular outer periphery regardless of the center of rotation of the impeller and rotationally positioning by the angle indexing method using the detection sensor device. Easy to put on and take off the car, it has a wide working range, it can weld complicated places, it is small, the installation space is small, and all the impellers are automatically welded by the teaching program, and it is unmanned. It is possible to improve efficiency.

[Brief description of drawings]

FIG. 1 is a front layout view of an impeller automatic robot welding device for a rotary machine of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is an enlarged view of a main part of a turning roll device.

FIG. 4 is a side view of FIG.

FIG. 5 is a schematic view of a double suction impeller.

FIG. 6 is a schematic diagram of a single-suction type impeller.

FIG. 7 is a schematic configuration diagram of a robot welding device.

FIG. 8 is a plan view of FIG.

[Explanation of symbols]

 1 Automatic Impeller Robot Welding Device 3 Turning Roll Device 5 Robot Welding Device 7 Drive Roller Unit 9 Driven Roller Unit 11 Impeller 13 Blade 15 Position Detection Sensor Device 20 Drive Roller 21 Driven Roller 35, 37 Detection Sensor 41 Welding Robot Main Body 43 Robot Mobile device

Claims (4)

[Claims] 1. An automatic robot welding apparatus for automatically welding an impeller for a rotating machine, wherein an outer circumference of the impeller is supported so as to be adjustable in the front, rear, left, right, and up and down directions so that the impeller can be rotated normally and reversely. A turning roll device including a driving roll unit and a driven roll unit; a multi-axis welding robot that allows the impeller to be freely welded; and a multi-axis welding robot that is provided in the vicinity of the turning roll device and is equipped with the multi-axis welding robot. A robot moving device that is movable in any direction, and the rotating roll device applies rotation to the impeller and sequentially rotates to the next welding position of the impeller to perform welding. Characteristic automatic impeller robot welding equipment for rotating machinery. 2. The turning roll device according to claim 1, wherein the turning roll device is provided in the middle of the two detection sensors provided in the forward and reverse rotation directions to detect the welding position of the impeller. An impeller automatic robot welding device for a rotating machine, characterized in that an angle indexing means comprising one other detection sensor for stopping the impeller is provided. 3. The turning roll device according to claim 1, wherein a plurality of the turning roll devices are arranged in parallel, and when a predetermined impeller is finished, the robot moving device is moved to the next reserved impeller. An impeller automatic robot welding device for rotating machines, characterized by moving. 4. The automatic robot welding machine for impellers for rotary machines according to claim 1, wherein the robot welding machines are provided so as to face each other with a turning roll device interposed therebetween. .